Wash and scrub potatoes well. I leave the skin as 20% of the best nutrients of a potato are in the skin and it adds a visual texture. Cut potatoes into 1” pieces, add to Dutch oven, and fill with water covering potatoes one inch. Bring to a boil, and cook on med-high for 15 minutes or until perfectly soft. Drain water. Add milk, salt and butter and begin to mash. Once potatoes are softening, add rosemary and garlic so that the mashing will break open their scent and flavor. Taste and feel free to add more of any ingredient to meet your liking. Grind fresh pepper on top and serve.